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AP_BattMonitor: zero consumption total before recalculating 

add reset function to ESC backend.
This commit is contained in:
Andy Piper 2021-06-04 18:39:46 +01:00 committed by Andrew Tridgell
parent 333588d7d4
commit 3e6d8357e9
2 changed files with 18 additions and 0 deletions
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14
libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
View File

@ -35,6 +35,7 @@ void AP_BattMonitor_ESC::read(void)
float current_sum = 0;
float temperature_sum = 0;
uint32_t highest_ms = 0;
_state.consumed_mah = delta_mah;
for (uint8_t i=0; i<ESC_TELEM_MAX_ESCS; i++) {
int16_t temperature_cdeg;
@ -92,4 +93,17 @@ void AP_BattMonitor_ESC::read(void)
}
}
bool AP_BattMonitor_ESC::reset_remaining(float percentage)
{
delta_mah = 0.0f;
read();
const float current_mah = _state.consumed_mah;
if (AP_BattMonitor_Backend::reset_remaining(percentage)) {
delta_mah = _state.consumed_mah - current_mah;
return true;
}
return false;
}
#endif // HAL_WITH_ESC_TELEM

4
libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
View File

@ -43,9 +43,13 @@ public:
// ESC_Telem provides temperature info
bool has_temperature() const override { return have_temperature; };
// reset remaining percentage to given value
virtual bool reset_remaining(float percentage) override;
private:
bool have_current;
bool have_temperature;
float delta_mah;
};
#endif